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Commutators of flows and fields

Markus Mauhart, Peter W. Michor (1992)

Archivum Mathematicum

The well known formula [ X , Y ] = 1 2 2 t 2 | 0 ( - t Y ø - t X ø t Y ø t X ) for vector fields X , Y is generalized to arbitrary bracket expressions and arbitrary curves of local diffeomorphisms.

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